Give it a Try
Give it a Try
by DirtyRoboto
Tue May 08, 2007 5:24 pm
My RN Takeshi in in pieces while I do some long awaited mods (still waiting on my sheets of aluminium), and I have just had a thought concerning warp power moves and passive motor designation. I will explain...
If u set hi-speed on and speed 15 in standard_pose then when the bot boots, it snaps into stance quite fast. This got me thinking of a way of getting abit more speed when you need it. So you trun a motor off where gravity or motion will displace its position. You then turn the motor back on with a new (greater) position and see if it snaps to the new position any faster than normal.
So I want to make the left arm slap down with force!
I raise the arm using the Bicep and bend the forearm over the head, I then turn the forearm off and set the bicep into a fast position reset (back to standard_pose), during this move I also turn on the forearm that is set to a new position.
Due to the motion provided and the snap of the servo, I predict an improvement in power.
PMD "Passive motor designation".
Any motor that does not carry a load, and is not used in a move could be assigned as PMD. Look at the standard walk with arms.
With arms in the walk, the shoulder and forearm motors are not involved. These motors could be turned off during the move. This saves power and (Guess) some CPU speed.
The walk without arms could have all 6 arm motors turned off.
You could then return control of the motors on sensor input.
Marcus.
If u set hi-speed on and speed 15 in standard_pose then when the bot boots, it snaps into stance quite fast. This got me thinking of a way of getting abit more speed when you need it. So you trun a motor off where gravity or motion will displace its position. You then turn the motor back on with a new (greater) position and see if it snaps to the new position any faster than normal.
So I want to make the left arm slap down with force!
I raise the arm using the Bicep and bend the forearm over the head, I then turn the forearm off and set the bicep into a fast position reset (back to standard_pose), during this move I also turn on the forearm that is set to a new position.
Due to the motion provided and the snap of the servo, I predict an improvement in power.
PMD "Passive motor designation".
Any motor that does not carry a load, and is not used in a move could be assigned as PMD. Look at the standard walk with arms.
With arms in the walk, the shoulder and forearm motors are not involved. These motors could be turned off during the move. This saves power and (Guess) some CPU speed.
The walk without arms could have all 6 arm motors turned off.
You could then return control of the motors on sensor input.
Marcus.
In servo's we trust!
by i-Bot
Fri May 11, 2007 6:15 pm
The advantage of HIGHSPEED is that is can be used at any time. It is not used in the speed calculation of a move, but makes a later real time 3 * speed increase (though probably physically limited at settings of speed > 10) in the motion engine. So as long as you don't WAIT after a move, you can invoke HIGHSPEED for part of a move. Don't use DELAY though, since this has an inherent WAIT inserted by the compiler!
